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Trajectory and Force Control of a Direct Drive Arm
(1986-09-01)
Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any ...
Dynamics of Manipulators with Less Than One Degree of Freedom
(MIT Artificial Intelligence Laboratory, 1983-01)
We have developed an efficient Lagrangian formulation of manipulators with small numbers of degrees of freedom. The efficiency derives from the lack of velocities, accelerations, and generalized forces. The number of ...
Automated Program Description
(MIT Artificial Intelligence Laboratory, 1982-08)
The Programmer's apprentice (PA) is an automated program development tool. The PA depends upon a library of common algorithms (cliches) as the source of its knowledge about programming. The PA uses these cliches to understand ...
Talking to the Puma
(MIT Artificial Intelligence Laboratory, 1982-09)
The AI Lab's Unimation Puma 600 is a general-purpose industrial robot arm that has been interfaced to a Lisp Machine for use in robotics projects at the lab. It has been fitted with a force-sensing wrist. The Puma is capable ...
TRIG: An Interactive Robotic Teach System
(MIT Artificial Intelligence Laboratory, 1982-06)
Currently, it is difficult for a non-programmer to generate a complex sensor-based robotic program. Most robot programming methods either generate only very simple programs or are such that they are only useful to programmers. ...
An Empirical Study of Program Modification Histories
(MIT Artificial Intelligence Laboratory, 1983-03)
Large programs undergo many changes before they run in a satisfactory manner. For many large programs, modification histories are kept which record every change that is made to the program. By studying these records, ...
Code Generation in the Programmer's Apprentice
(MIT Artificial Intelligence Laboratory, 1982-05)
The Programmer's Apprentice is a highly interactive program development tool. The user interface to the system relies on program text which is generated from an internal plan representation. The programs generated need to ...
The Connection Machine RAM Chip
(MIT Artificial Intelligence Laboratory, 1983-01-03)
This document describes the three transistor NMOS dynamic ram circuit used in the connection machine. It was designed and implemented by Brewster Kahle, with the assistance of Jim Cherry, Danny Hillis and Tom Knight. ...
Getting Started Computing at the AI Lab
(MIT Artificial Intelligence Laboratory, 1982-09-07)
This document describes the computing facilities at M.I.T. Artificial Intelligence Laboratory, and explains how to get started using them. It is intended as an orientation document for newcomers to the lab, and will be ...
Toward a Requirements Apprentice: On the Boundary Between Informal and Formal Specifications
(1986-07-01)
Requirements acquisition is one of the most important and least well supported parts of the software development process. The Requirements Apprentice (RA) will assist a human analyst in the creation and modification ...